Yo and congrats on the first lucid dream! 
Being lucid means being aware of that you are dreaming, which you were, so you were indeed lucid! Not all lucid dreams are vivid, vividness often depends on awareness, which can be increased with practice, also it can be increased by stabilizing the dream: Dream Stabilization and Clarity Tutorial - Lucid Dreaming - Dream Views , i personally prefer the 'engaging senses' and 'rubbing hands' methods. 
Good job recalling it too! That's why improving recall is important, because even though lucid dreams are easier to remember, if we don't wake up right after them other dreams might still override memory if it's not trained enough. 
About layers, there are no layers of lucidity to speak of i believe, and as i said it's all depends on one's awareness level.
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